CN111176304A - Robot motion chassis quality inspection method and device, intelligent equipment and medium - Google Patents
Robot motion chassis quality inspection method and device, intelligent equipment and medium Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention relates to the technical field of artificial intelligence, in particular to a robot motion chassis quality inspection method, a robot motion chassis quality inspection device, intelligent equipment and a medium, which are used for analyzing the whole quality inspection process, processing a motion track to obtain a quality inspection result and improving the quality inspection precision; the identification sticker is attached to the upper surface of the robot motion chassis and serves as a target during image detection, so that the accuracy is high, the universality is high, and the operation is convenient; adopt color camera, the chassis rotation axis is kept away from to the position is posted to the sign subsides for the effect is better.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a method and a device for quality inspection of a robot motion chassis, intelligent equipment and a medium.
Background
With the development of artificial intelligence technology, the market of the service robot in China also has met explosive growth, and according to the statistical data of the development prospect of the industry of the service robot in China and the analysis report of investment strategy planning, the service robot is in a rapid growth stage in 2013-2018, the market scale of the service robot in China in 2018 is expected to reach 18.4 hundred million dollars, the commensurately growth is about 45.3%, and the market speed is higher than that of the service robot in the world; the acceleration of the service robot market inevitably drives the increase of related core technologies, and the mobile robot chassis is used as the basis of the movement of the service robot and plays an important role in helping the robot to realize autonomous walking; the robot is used as a combination of various technologies and functions, except for partial software functions, other important parts are all on a hardware module of a robot chassis, the mobile robot chassis is not only an integration point of various sensors, motors and other equipment, but also bears basic functions of positioning, navigation, obstacle avoidance and the like of the robot, which is very important for a service robot, the quality of the mobile robot chassis directly concerns the embodiment of the value of the service robot, and therefore the commercial landing development of the service robot is influenced, and in view of the above, many robot enterprises begin to pay more attention to the research, development and production of the robot chassis.
The chassis technology of the service robot is an important technology related to the overall performance of the robot. The robot positioning accuracy depends on the accuracy of an odometer, and the accuracy of the odometer depends on the accuracy and reliability of the movement performance of the chassis; the chassis motion performance quality inspection mainly comprises the following steps: linear motion performance, namely accuracy of linear motion distance and linear motion linearity error; rotational motion performance is rotational motion angle accuracy.
In the prior art, a plurality of quality inspection mark points are arranged, a moving chassis is controlled to reciprocate between the quality inspection mark points, and the actual position when a robot reaches each mark point and the phase position of each mark point are obtained by means of image recognition and the like, so that the actual position of the moving chassis is obtained, the quality inspection is completed, the mode only monitors the position deviation when the robot reaches each quality inspection mark point, the monitoring accuracy of the moving process between the quality inspection mark points is ignored, and the accuracy is low; in addition, the distance between the motion chassis and the quality inspection mark point is obtained in an image recognition mode, but different image recognition algorithms need to be configured for different chassis due to different sizes, shapes and colors of the motion chassis, and the adaptability is poor; meanwhile, a plurality of quality inspection mark points need to be manually set, and the method is relatively complex.
When the inventor specifically implements the prior art scheme, the following technical problems exist in the prior art:
the accuracy is lower, and adaptability is relatively poor, and is more loaded down with trivial details simultaneously.
Disclosure of Invention
The embodiment of the invention aims to provide a robot motion chassis quality inspection method, a robot motion chassis quality inspection device, intelligent equipment and a medium, so as to solve the problems of low precision, poor universality and complexity of the existing chassis motion performance quality inspection method. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides a method for quality inspection of a robot motion chassis, where the method specifically includes:
a quality inspection method for a robot motion chassis is applied to the robot motion chassis and comprises the following steps:
attaching a label on the upper surface of the robot motion chassis as a target during image detection;
placing the robot motion chassis in a field of view of a camera device, and keeping all motion links of the robot motion chassis in the field of view of the camera device in the quality inspection process all the time;
inputting corresponding quality inspection program parameters of the robot motion chassis;
the operation processing is carried out, the camera device is controlled to be opened, whether the identification sticker exists in the field range of the camera device is detected, and if not, a warning is given out;
and acquiring a video stream, controlling the robot motion chassis to move according to a set specified route, acquiring the video stream shot by the camera device in real time, identifying the label, and giving a warning if the camera device does not identify the label.
And processing the video stream, acquiring the motion track of the motion chassis of the robot, analyzing the motion track and acquiring a quality inspection result.
And calculating a track, wherein when the motion of the robot motion chassis is finished, the shooting of the camera device is stopped, and the track is calculated.
Further, the quality inspection program parameters comprise linear motion parameters and rotary motion parameters, the linear motion parameters comprise linear motion time, linear motion speed and linear motion unit distance, the linear motion time refers to the total time for performing linear motion quality inspection, the linear motion speed refers to the speed of the robot moving chassis during stable running when performing linear motion quality inspection, and the linear motion unit distance refers to the distance between two times of turning around of the robot moving chassis; the linear motion parameters are used for performing linear motion quality inspection on the robot chassis;
the rotary motion parameters comprise rotary motion time and rotary motion speed, the rotary motion time refers to the total time of the robot motion chassis for rotary motion quality inspection, and the rotary motion speed refers to the rotary speed of the robot motion chassis during rotary motion quality inspection; and the rotary motion parameters are used for performing rotary motion quality inspection on the robot chassis.
Further, the robot motion chassis is controlled to move according to a set specified route, corresponding linear motion quality inspection and rotary motion quality inspection are executed,
in the process of linear motion quality inspection, the robot moves the chassis to reciprocate at a set stable speed and a set distance within a set running time;
in the process of rotary motion quality inspection, the robot moves the chassis to rotate at a set rotating speed within a set running time.
Further, the linear motion: calculating the total length of the actual track as l through image processing; performing linear fitting on each section of the back-and-forth track to obtain a linearity error, averaging all the linearity errors to obtain an average linearity error m, wherein if the theoretical length of the linear motion track is lo, the distance error of the linear motion unit length is (l-lo)/lo, and the average linearity error is m;
rotating movement: calculating the total rotation angle theta through image processing; for each circle of rotary motion, fitting and obtaining the rotary centers of the rotary tracks through a corresponding algorithm, solving the geometric centers of all the circle track rotary center sets as the actual rotary center of the motion chassis, calculating the difference value n between the actual rotary center and the theoretical rotary center, wherein the rotary angle theory of the rotary motion is theta0The error of the rotation angle per unit angle of the rotational motion is (theta-theta)0)/θ0The rotation center error is n.
Further, the camera device is a color camera.
Further, the position is posted away from to the sign subsides the rotation axis on robot motion chassis.
In a second aspect, the present invention provides a robot motion chassis device, which comprises:
a robot motion chassis device is applied to a robot motion chassis and comprises a storage module, a processing module, a communication module and a computer program which is stored on the storage module and can run on the processing module, wherein the communication module can receive motion signals and control the motion of the robot motion chassis.
In a third aspect, an embodiment of the present invention provides an imaging apparatus, which includes:
a camera device is applied to a robot motion chassis and comprises a control module and a data transmission module, wherein the control module receives a control signal and controls a color camera to be switched on and off, and the data transmission module is used for transmitting video data.
In a fourth aspect, an embodiment of the present invention provides an intelligent device, which is specifically as follows:
an intelligent device is applied to a robot motion chassis and comprises a processor and a memory for storing computer instructions, wherein the processor executes the computer instructions to carry out the quality inspection method.
In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, which includes:
a computer readable storage medium having instructions which, when executed by a processor, enable the processor to perform the quality inspection method described above.
The invention has the beneficial effects that:
the embodiment of the invention provides a quality inspection method for a robot motion chassis, which is used for analyzing the whole quality inspection process, processing a motion track to obtain a quality inspection result and improving the quality inspection precision; the identification sticker is attached to the upper surface of the robot motion chassis and serves as a target during image detection, so that the accuracy is high, the universality is high, and the operation is convenient; by adopting the color camera, the pasting position of the identification paste is far away from the rotating shaft of the chassis, so that the effect is better; meanwhile, the invention also provides a robot motion chassis device, a camera device, intelligent equipment and a medium.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a diagram of an application scenario of the present invention;
FIG. 2 is a flow chart of a quality inspection method according to the present invention;
FIG. 3 is a flowchart of quality control according to example 1 of the present invention;
FIG. 4 is a flow chart of the image processing process of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Example 1
Fig. 1-4 show an application scenario of the present invention, fig. 1 shows a flowchart of a quality inspection method of the present invention, fig. 2 shows a flowchart of a quality inspection method of the present invention, fig. 3 shows a flowchart of a quality inspection method of embodiment 1 of the present invention, and fig. 4 shows a flowchart of an image processing procedure of the present invention.
In a first aspect, an embodiment of the present invention provides a method for quality inspection of a robot motion chassis, where the method specifically includes:
a quality inspection method for a robot motion chassis is applied to the robot motion chassis and comprises the following steps:
sticking a mark sticker on the upper surface of a robot motion chassis as a target during image detection;
placing the robot motion chassis within a field of view of a camera device, and always keeping all motion links of the robot motion chassis within the field of view of the camera device in the quality inspection process;
inputting corresponding quality inspection program parameters of a robot motion chassis;
running processing, controlling the camera device to be opened, detecting whether the identification sticker exists in the field range of the camera device, and if not, giving a warning;
and acquiring a video stream, controlling the robot motion chassis to move according to a set specified route, acquiring the video stream shot by the camera device in real time, identifying the label, and giving a warning if the camera device does not identify the label.
And processing the video stream, acquiring the motion track of the motion chassis of the robot, and analyzing the motion track to acquire a quality inspection result.
And calculating a track, namely stopping shooting by the camera device after the motion of the robot motion chassis is finished, and calculating the track.
In order to obtain higher accuracy, the identification sticker is a marker which is easy to recognize images, easy to paste and remove, firm after being pasted and smaller than a moving chassis of the robot, and the position of the marker replaces the position of the moving chassis in the quality inspection process; the sign subsides need be posted in the position that is flat relatively, make things convenient for camera device discernment and be of value to the sign subsides and post firmly.
Further, the quality inspection program parameters comprise linear motion parameters and rotary motion parameters, the linear motion parameters comprise linear motion time, linear motion speed and linear motion unit distance, the linear motion time refers to the total time for performing linear motion quality inspection, the linear motion speed refers to the speed of the robot moving chassis when the robot moving chassis stably runs during the linear motion quality inspection, and the linear motion unit distance refers to the distance between two times of turning around of the robot moving chassis; the linear motion parameters are used for performing linear motion quality inspection on the robot chassis;
the rotary motion parameters comprise rotary motion time and rotary motion speed, the rotary motion time refers to the total time for the robot motion chassis to carry out rotary motion quality inspection, and the rotary motion speed refers to the rotary speed of the robot motion chassis when the rotary motion quality inspection is carried out; the rotary motion parameters are used for carrying out rotary motion quality inspection on the robot chassis.
Further, the robot motion chassis is controlled to move according to the set specified route, corresponding linear motion quality inspection and rotary motion quality inspection are executed,
in the process of linear motion quality inspection, the robot moves the chassis to reciprocate at a set stable speed and a set distance within a set running time;
in the process of rotary motion quality inspection, the robot moves the chassis to rotate at a set rotating speed within a set running time.
Example 2
Further, the linear motion: calculating the total length of the actual track as l through image processing; performing linear fitting on each section of the back-and-forth track to obtain a linearity error, averaging all the linearity errors to obtain an average linearity error m, wherein if the theoretical length of the linear motion track is lo, the distance error of the linear motion unit length is (l-lo)/lo, and the average linearity error is m;
rotating movement: calculating the total rotation angle theta through image processing; for each circle of rotary motion, fitting and obtaining the rotary centers of the rotary tracks through a corresponding algorithm, solving the geometric centers of all the circle track rotary center sets as the actual rotary center of the motion chassis, calculating the difference value n between the actual rotary center and the theoretical rotary center, wherein the rotary angle theory of the rotary motion is theta0The error of the rotation angle per unit angle of the rotational motion is (theta-theta)0)/θ0The rotation center error is n.
Determining circular track parameters by adopting a circle fitting algorithm, wherein the track coordinate in the motion process is (x)i, yi) The parameters of the circle are determined from the sum of the absolute values of the distances of the tracing points to the circle, namely:
x such that f takes the minimum valuec、ycAnd R is the best fit parameter, (x)c, yc) The center of rotation of the trajectory, R the radius of rotation, can be found by the vertical method.
Specifically, the image processing procedure is as follows:
the track calculation is divided into two steps: processing the image to obtain the position of the chassis in each frame of image; and fitting the data to obtain a running track. As shown in fig. 4, the image processing procedure: loading a video stream, and extracting each frame of image; and identifying the outline position of the label by adopting a target segmentation algorithm. The target segmentation algorithm is based on the characteristics of color, texture, contour shape and the like; calculating the geometric center position of the outline, wherein the position represents the position of the chassis; and calculating each frame of picture to obtain and store the chassis positions at different moments.
The target segmentation algorithm adopts a watershed algorithm to perform image segmentation. The watershed algorithm is a mature algorithm in the field of image segmentation, and interfaces are provided in computer vision libraries such as OPENCV and the like and can be directly used for reference.
The data fitting procedure was as follows: for linear motion: calculating the absolute value of the difference values of the adjacent position points, and adding the absolute values of the difference values of all the adjacent position points to obtain the total length l of the actual track; and performing linear fitting on each section of the round-trip track to obtain a linearity error, and averaging all the linearity errors to obtain an average linearity error m. If the theoretical length of the linear motion track is lo, the distance error of the linear motion unit length is (l-lo)/lo, and the average linearity error is m. For the rotational movement: and fitting position points in each circle of rotation to obtain a rotation motion track, and calculating to obtain a total rotation angle theta. The theory of the rotation angle of the rotary motion is theta0The error of the rotation angle per unit angle of the rotational motion is (theta-theta)0)/θ0。
To improve accuracy, the camera device is a color camera.
In order to enlarge the running track of the identification sticker when the motion chassis rotates, the pasting position of the identification sticker is far away from the rotating shaft of the motion chassis of the robot.
In a second aspect, the present invention provides a robot motion chassis device, which comprises:
a robot motion chassis device is applied to a robot motion chassis and comprises a storage module, a processing module, a communication module and a computer program which is stored on the storage module and can run on the processing module, wherein the communication module can receive motion signals and control the motion of the robot motion chassis.
In a third aspect, an embodiment of the present invention provides an imaging apparatus, which includes:
a camera device is applied to a robot motion chassis and comprises a control module and a data transmission module, wherein the control module receives a control signal and controls a color camera to be switched on and off, and the data transmission module is used for transmitting video data.
In a fourth aspect, an embodiment of the present invention provides an intelligent device, which is specifically as follows:
the intelligent equipment is applied to a robot motion chassis and comprises a processor and a memory for storing computer instructions, wherein the processor executes the computer instructions to carry out the quality inspection method.
In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, which includes:
a computer readable storage medium having instructions which, when executed by a processor, enable the processor to perform the quality inspection method described above.
In light of the foregoing description, it is believed that various alterations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (9)
1. A quality inspection method for a robot motion chassis is characterized by being applied to the robot motion chassis and comprising the following steps:
attaching a label on the upper surface of the robot motion chassis as a target during image detection;
placing the robot motion chassis in a field of view of a camera device, and keeping all motion links of the robot motion chassis in the field of view of the camera device in the quality inspection process all the time;
inputting corresponding quality inspection program parameters of the robot motion chassis;
the operation processing is carried out, the camera device is controlled to be opened, whether the identification sticker exists in the field range of the camera device is detected, and if not, a warning is given out;
acquiring a video stream, controlling the robot motion chassis to move according to a set specified route, acquiring the video stream shot by the camera device in real time, identifying a label, and if the camera device does not identify the label, sending a warning;
processing a video stream, acquiring a motion track of the motion chassis of the robot, and analyzing the motion track to acquire a quality inspection result;
and calculating a track, wherein when the motion of the robot motion chassis is finished, the shooting of the camera device is stopped, and the track is calculated.
2. The method for inspecting the quality of the moving chassis of the robot as claimed in claim 1,
the quality inspection program parameters comprise linear motion parameters and rotary motion parameters, the linear motion parameters comprise linear motion time, linear motion speed and linear motion unit distance, the linear motion time refers to the total time for performing linear motion quality inspection, the linear motion speed refers to the speed of the robot motion chassis in stable running when performing linear motion quality inspection, and the linear motion unit distance refers to the distance between two times of turning around of the robot motion chassis; the linear motion parameters are used for performing linear motion quality inspection on the robot chassis;
the rotary motion parameters comprise rotary motion time and rotary motion speed, the rotary motion time refers to the total time of the robot motion chassis for rotary motion quality inspection, and the rotary motion speed refers to the rotary speed of the robot motion chassis during rotary motion quality inspection; and the rotary motion parameters are used for performing rotary motion quality inspection on the robot chassis.
3. The quality inspection method for the robot motion chassis according to claim 2, characterized in that the robot motion chassis is controlled to move according to a preset specified route, corresponding linear motion quality inspection and rotary motion quality inspection are carried out,
in the process of linear motion quality inspection, the robot moves the chassis to reciprocate at a set stable speed and a set distance within a set running time;
in the process of rotary motion quality inspection, the robot moves the chassis to rotate at a set rotating speed within a set running time.
4. The method for inspecting the quality of the moving chassis of the robot as claimed in claim 3,
linear motion: calculating the total length of the actual track as l through image processing; performing linear fitting on each section of the back-and-forth track to obtain a linearity error, averaging all the linearity errors to obtain an average linearity error m, wherein if the theoretical length of the linear motion track is lo, the distance error of the linear motion unit length is (l-lo)/lo, and the average linearity error is m;
rotating movement: calculating the total rotation angle theta through image processing; for each circle of rotary motion, fitting and obtaining the rotary centers of the rotary tracks through a corresponding algorithm, solving the geometric centers of all the circle track rotary center sets as the actual rotary center of the motion chassis, calculating the difference value n between the actual rotary center and the theoretical rotary center, wherein the rotary angle theory of the rotary motion is theta0The error of the rotation angle per unit angle of the rotational motion is (theta-theta)0)/θ0The rotation center error is n.
5. The method of claim 1, wherein the imaging device is a color camera.
6. The method of claim 1, wherein the identification sticker is affixed remotely from an axis of rotation of the robotic motion chassis.
7. A robot motion chassis device is applied to a robot motion chassis and is characterized by comprising a storage module, a processing module, a communication module and a computer program which is stored on the storage module and can run on the processing module, wherein the communication module can receive motion signals and control the robot motion chassis to move.
8. A smart device for use in a robotic motion chassis comprising a processor and a memory for storing computer instructions, the processor executing the computer instructions to perform the method of any of claims 1-6.
9. A computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor, enable the processor to perform the method of any of claims 1-6.
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Application publication date: 20200519 |